TY - GEN
T1 - A new dynamic calibration algorithm for odometer's scale factor
AU - Wang, Qingzhe
AU - Fu, Mengyin
AU - Deng, Zhihong
AU - Wang, Shunting
PY - 2009
Y1 - 2009
N2 - A new dynamic calibration algorithm for odometer's scale factor is proposed in this paper. In modern system, Kalman filter is used to perform the calibration, however, classical Kalman filter isn't very effective to deal with the influences of the kind of measurement outliers and kinematic state disturbing. In this paper, adaptive robust Kalman filter is proposed to overcome the impact of scale factor error to the accuracy of SINS/Odometer system. Simulation indicates that the algorithm can identify the odometer's scale factor accurately within few seconds, so as to improve the accuracy of navigation.
AB - A new dynamic calibration algorithm for odometer's scale factor is proposed in this paper. In modern system, Kalman filter is used to perform the calibration, however, classical Kalman filter isn't very effective to deal with the influences of the kind of measurement outliers and kinematic state disturbing. In this paper, adaptive robust Kalman filter is proposed to overcome the impact of scale factor error to the accuracy of SINS/Odometer system. Simulation indicates that the algorithm can identify the odometer's scale factor accurately within few seconds, so as to improve the accuracy of navigation.
KW - Adaptive robust Kalman filter
KW - SINS/Odometer system
KW - Scale factor
UR - https://www.scopus.com/pages/publications/84913533358
M3 - Conference contribution
AN - SCOPUS:84913533358
T3 - 16th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2009 - Proceedings
SP - 220
EP - 222
BT - 16th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2009 - Proceedings
A2 - Krytova, A.K.
A2 - Peshekhonov, Vladimir G.
PB - State Research Center of the Russian Federation
T2 - 16th Saint Petersburg International Conference on Integrated Navigation Systems, ICINS 2009
Y2 - 25 May 2009 through 27 May 2009
ER -